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Experimental velocity control based on a simple PID controller.

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TailgatingPID

Experimental velocity control based on a simple PID controller. The line plot illustrates the change in distance between the two vehicles in every frame. The following two animations are the simulated experiments.

:param accel:               (float) vehicle's current velocity [m/s]
:param max_accel:           (float) vehicle's maximum accleration [m/s^2]
:param gap:                 (float) vehicle's vehicle from the target [m]
:param prev_gap:            (float) previous vehicle's distance from the target [m]
:param safety_thresh:       (float) maximum allowable distance from the target [m]
:param dt:                  (float) discrete time period [s]

:return desired_accel:      (float) vehicle's desired velocity [m/s]

Installation

To run the animation, if not just install Numpy.

$ pip install -r requirements.txt

The Police Chase

The Girlfriend

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Experimental velocity control based on a simple PID controller.

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